rh_p12_rn::BaseModule Class Reference

#include <base_module.h>

Inheritance diagram for rh_p12_rn::BaseModule:

Public Member Functions
	BaseModule ()
bool	getItemValueCallback (rh_p12_rn_base_module_msgs::GetItemValue::Request &req, rh_p12_rn_base_module_msgs::GetItemValue::Response &res)
void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)
bool	isRunning ()
void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)
void	setPosition (const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg)
void	stop ()
virtual	~BaseModule ()
Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()
bool	getModuleEnable ()
std::string	getModuleName ()
virtual void	onModuleDisable ()
virtual void	onModuleEnable ()
void	setModuleEnable (bool enable)
virtual	~MotionModule ()

Private Member Functions
void	queueThread ()

Private Attributes
int	control_cycle_msec_
int	goal_acceleration_
int	goal_current_
int	goal_position_
int	goal_velocity_
bool	is_moving_
int	present_current_
ros::Publisher	present_current_pub_
int	present_position_
ros::Publisher	present_position_pub_
int	present_velocity_
boost::thread	queue_thread_
robotis_framework::Robot *	robot_
bool	torque_enable_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule >
static void	destroyInstance ()
static T *	getInstance ()
Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_
Protected Member Functions inherited from robotis_framework::Singleton< BaseModule >
Singleton &	operator= (Singleton const &)
	Singleton (Singleton const &)
	Singleton ()
Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_
bool	enable_
std::string	module_name_

Detailed Description

Definition at line 37 of file base_module.h.

Constructor & Destructor Documentation

rh_p12_rn::BaseModule::BaseModule

(

)

Definition at line 25 of file base_module.cpp.

rh_p12_rn::BaseModule::~BaseModule ( )

virtual

Definition at line 45 of file base_module.cpp.

Member Function Documentation

bool rh_p12_rn::BaseModule::getItemValueCallback	(	rh_p12_rn_base_module_msgs::GetItemValue::Request &	req,
		rh_p12_rn_base_module_msgs::GetItemValue::Response &	res
	)

Definition at line 97 of file base_module.cpp.

void rh_p12_rn::BaseModule::initialize ( const int  control_cycle_msec, robotis_framework::Robot *  robot  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 50 of file base_module.cpp.

bool rh_p12_rn::BaseModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 179 of file base_module.cpp.

void rh_p12_rn::BaseModule::process ( std::map< std::string, robotis_framework::Dynamixel * >  dxls, std::map< std::string, double >  sensors  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 129 of file base_module.cpp.

void rh_p12_rn::BaseModule::queueThread ( )

private

Definition at line 61 of file base_module.cpp.

void rh_p12_rn::BaseModule::setPosition

(

const robotis_controller_msgs::SyncWriteItem::ConstPtr &

msg

)

Definition at line 88 of file base_module.cpp.

void rh_p12_rn::BaseModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 174 of file base_module.cpp.

Member Data Documentation

int rh_p12_rn::BaseModule::control_cycle_msec_

private

Definition at line 42 of file base_module.h.

int rh_p12_rn::BaseModule::goal_acceleration_

private

Definition at line 51 of file base_module.h.

int rh_p12_rn::BaseModule::goal_current_

private

Definition at line 50 of file base_module.h.

int rh_p12_rn::BaseModule::goal_position_

private

Definition at line 48 of file base_module.h.

int rh_p12_rn::BaseModule::goal_velocity_

private

Definition at line 49 of file base_module.h.

bool rh_p12_rn::BaseModule::is_moving_

private

Definition at line 52 of file base_module.h.

int rh_p12_rn::BaseModule::present_current_

private

Definition at line 55 of file base_module.h.

ros::Publisher rh_p12_rn::BaseModule::present_current_pub_

private

Definition at line 59 of file base_module.h.

int rh_p12_rn::BaseModule::present_position_

private

Definition at line 53 of file base_module.h.

ros::Publisher rh_p12_rn::BaseModule::present_position_pub_

private

Definition at line 58 of file base_module.h.

int rh_p12_rn::BaseModule::present_velocity_

private

Definition at line 54 of file base_module.h.

boost::thread rh_p12_rn::BaseModule::queue_thread_

private

Definition at line 43 of file base_module.h.

robotis_framework::Robot* rh_p12_rn::BaseModule::robot_

private

Definition at line 45 of file base_module.h.

bool rh_p12_rn::BaseModule::torque_enable_

private

Definition at line 47 of file base_module.h.

---

The documentation for this class was generated from the following files:

• base_module.h
• base_module.cpp